*Philippe Baron¹, Satoshi Ochiai¹, Donal Murtagh⁵, Hideo Sagawa², Akinori Saito³, Masato Shiotani³, Makoto Suzuki⁴ (1.National Institute of Information and Communications Technology, 2.Kyoto Sangyo University, 3.Kyoto University, 4.Japan Aerospace Exploration Agency, 5.Chalmers University of Technology, Sweden)